Model-building for vehicle yaw dynamics

Building the yaw dynamics model is fundamental to vehicle yaw stability control.Considering the character-istics of the vehicle yaw stability control,we propose a nonlinear discrete yaw dynamics model for a vehicle by combining the vehicle yaw dynamics,wheel dynamics and the nonlinear characteristics of tires.In this model,wheel frictional forces are considered as time-varying variables;to estimate these time-varying variables,a discrete sliding mode observer is de-signed.Finally,in a high-accurate simulation environment for the vehicle dynamics,results validate the accuracy in the estimation of wheel frictional forces,and the efficacy of the proposed model for the vehicle yaw dynamics.